| 摘要 |
PURPOSE:To enable automatic and continuous fillet welding of a rectangular weld line, etc. by providing driving wheels having steering mechanisms, guide arms for traveling, detectors for wall surfaces, etc. to a carriage provided with a welding torch. CONSTITUTION:A self-traveling carriage 20 for welding has driving wheels 22, 23 provided with steering mechanisms and are provided with an electromagnet 25 for spinning at the center of the bottom surface. The carriage travels along a side plate 11 by guide arms 26, 27, etc. When the carriage arrives at the crossed part B of weld lines, a wall surface detector 28 senses the wall surface and the energized electromagnet 25 is attracted to a bottom plate 10. The wheel 22 is rotated reverse by an electromagnetic clutch and the wheel 23 is steered; at the same time, the arms 26, 27 are unlocked and the carriage 20 spins. The carriage 29 begins to travel along a vertical plate 12 after spinning 90 deg. and a movable torch 30 starts continuous fillet welding. Even if there is a scallop in the part B, the torch 30 makes welding freely. The continuous fillet welding is thus automatically accomplished. |
